Method and apparatus for quay container crane-based automated optical container code recognition with positional identification

ABSTRACT

A method and system for a quay container crane with container code recognition of a container identified by a container code with container positional identification is disclosed. The system and method are capable of performing these tasks without the use of non-standard container tagging.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of, U.S. patent application Ser. No.10/120,032, filed Apr. 9, 2002 now U.S. Pat. No. 6,768,931, entitled:Method And Apparatus For Quay Container Crane-Based Automated OpticalContainer Code Recognition With Positional Identification, which claimsthe priority date of, PCT/US01/24458, filed Aug. 2, 2001, entitled: AMethod and Apparatus for Locating Cargo Containers, Applicant: PACECOCorp., which claims priority to: U.S. patent application, Ser. No.09/632,866, filed Aug. 4, 2000, now issued as U.S. Pat. No. 6,356,802,entitled: Method and Apparatus for Locating Cargo Containers; Assignee:PACECO Corp., Inventors: Takehara and Ng.

TECHNICAL FIELD

This invention relates to automated container code recognition on quaycontainer cranes as used in loading and unloading cargo containers fromships.

BACKGROUND ART

In the marine shipping industry, the expected annual container trafficgrowth is from 4.7% to 7.6%. Container terminals are faced with thechallenge of maintaining the inventory control for these escalatingnumbers of containers. The input, output and storage of containers atthese terminals must provide an efficiency level that is at leastconsistent with, or exceeds, past performance.

Present and future growth levels have compelled terminal managementcompanies to look for new systems to bring about more efficient resourcecontrol and as a consequence, provide a more profitable operation.

Shipping companies wish to reduce the time a ship spends at port inorder to increase the productivity of each vessel. Increasing theproductivity of berthing operations allows ships to be loaded andunloaded faster, effectively reducing the time spent at port.

What is needed by both terminal management and shipping companies is amore accurate, real time accounting of incoming, outgoing and existingcontainer inventory. A more efficient container inventory managementsystem is needed to minimize the time spent at a port or rail yardloading and unloading containers.

FIG. 1 illustrates a typical berthing process involving operations ofquay container cranes 2200, transports between quay container cranes2200 and storage yards, and storage yard containers manipulated bytransfer container cranes 2100, as found in the prior art.

The berthing operations involve the transport of containers betweencontainer ships and the storage yard. Currently, quay container cranes2200 access the containers from above ships 220 and move them to andfrom transportation units 210, such as trucks, each with a chassis, orAutomatically Guided Vehicles (AGV's). The vehicles deliver thecontainers to storage yards 200 where other vehicles transfer thecontainers to stacks. The berthing process involves three operations:(1) quay container crane 2200 handling, (2) quay container crane 2200 tostorage area 200 transport, and (3) storage area 200 manipulation oftenby one or more transfer container cranes 2100 as illustrated in FIG. 1.

The quay container crane 2100 and transport vehicle 210 operations arehighly interdependent. A delay in one operation causes the other topause, reducing the overall productivity of the berthing process. Ifthere are mistakes in these operations, then the overall berthingprocess is seriously delayed.

It is extremely important that ship unloading of containers be donecorrectly. If there are mistakes, a container may be lost for as much asa month. Even when found, the container may be further delayed becausethe ship, which has its own schedule, may already have left. This canrender the cargo in a container worthless. For example, the containermay hold seafood or other perishable products, which a delay of one ormore months could render worthless.

What is needed is a method for reducing errors and supporting efficientoperation of the berthing process.

FIGS. 2A and 2B illustrate typical container codes and theirrepresentation on the side of a container as found in the prior art.

Each cargo container 100 is assigned a unique identification number 110displayed on the sides and roof of the container. This identificationnumber is represented in the form of a painted code and ID tag. Numerousgovernment agencies and ship regulators require container codes on allcontainers. As a result, the painted container code representations ofnumerals and letters are used universally and internationally, as shownin FIGS. 2A and 2B.

A magnetic tag is another prior art method assigning an identificationnumber to a container. However, magnetic tag method suffers from severalproblems. The magnetic tag method is not an international standard.Magnetic tags for containers are only installed by individual shippingline owners at their discretion. Not all container transporters supportmagnetic tags for their containers.

Additionally, a magnetic tag must pass in close proximity to amagnetometer in order for the magnetic tag to be read. The containerpassing the magnetometer can be outbound and inbound. Moreover, themagnetically tagged container can be moved anywhere. Magnetic tagreading provides no information about the container's physical location.

Another prior art alternative can identify containers from a distance.It is a technically more sophisticated and expensive system requiring atransponder tag attached to each container. The transponder tags can beprogrammed to show different kinds of information in the form of a codedsignal when interrogated by a radio frequency transceiver. Such systemsare expensive, delicate, and easily damaged.

Cargo containers are the individually property of the different shippinglines. When used by a non-owner shipping line, a container rental fee ispaid to the owner. At the present time, the shipping companies only knowthe size of each container and whether it is dry or refrigerated.

A cargo container can become lost for several reasons. Inadvertently, acontainer is misplaced in a different location (yard address). Sometimesa container crane operator leaves a container at the wrong address,causing the container to be lost. A computer tracking the containersparked in a container terminal storage area will have an error in thecontainer's tracking data. As a result, the lost container iseffectively invisible to the existing container terminal managementsystem (CTMS). While this is usually discovered eventually, thecontainer is inevitably lost for a certain time.

A cargo container can become lost when the container ID number isincorrectly input into the CTMS. A cargo container can become lost whenthe container ID number is unreadable due to dirt, scratches, beingcovered, or the incorrect label on the container.

Any of these errors can result in disruptions of the inventory database.In addition, these errors become particularly serious when one attemptsto place a second container into a supposedly vacant location only tofind the location is already occupied, which further results in timeconsuming interruptions. What is needed is an efficient way to track allthe containers and update an inventory database.

It can take a week in a major container storage yard to find a lostcontainer. This can delay a ship's departure and/or the container'sdelivery to its destination. Either and/or both delays cost the shippingcompanies money.

Today, there is a large turnover of cargo containers in the seaports.This cargo turnover makes it necessary to regularly update the CTMSdatabase. What is needed is an automated method of updating the CTMSdatabase in real-time that will work efficiently even during the rushhours.

Today, a known disclosure teaching automatic reading of container IDtags on container cranes, is found in U.S. Pat. No. 6,356,802 entitled“Method and apparatus for location cargo containers”, by Takehara (oneof the inventors of this application) and Ng. The '802 patent isassigned to the same assignee as this application, Paceco Corp. The '802patent discloses “The system can be installed on cranes to identifycontainers at wharfside and on straddle carrier cranes for identifyingcontainers in single or multiple stack container storage. The system canbe installed on cranes to identify containers mounted on rail cars inrail terminals . . . ” (Lines 50–55, Column 4)

“The machine reader, its associated apparatus, and the LDU, are carriedonboard a transporter such as a cart which runs on tracks or can besteerable. The cart can either be operator driven or remotelycontrolled. The apparatus could be mounted onboard the storage yardpatrol truck. . . . The machine reader can be alternatively aimed by thetransporter, remotely controlled, or handheld by an operator.” (lines40–48, Column 6) Note that “LDU” is disclosed as “location determiningunit” in line 1 of Column 6.

“ . . . the present invention contemplates wireless transmission of thedata from the machine reader/transporter to the central terminal wherethe CTMS is located for real time data updating. This can beaccomplished by a wireless modem, or a communication unit, whichtransmits the container's ID number and its current location back to thestationary central computer which hosts the CTMS program and alsocontains the inventory database.” (line 65 Column 6-line 6 Column 7)CTMS refers to container terminal management system (line 12 Column 3).

“The identification means is scanned from a distance by a machine suchas an optical character recognition (OCR) unit to interrogate the ID tagand identify the container. It is an important characteristic of theinvention that an operator of the system is able to remotely interrogatean ID tag of a cargo container . . . without the necessity of physicallyapproaching and contacting the container or even coming in closeproximity thereto.” (lines 3–10 Column 5)

While of value, the '802 patent fails to disclose or teach at least thefollowing:

-   -   1. The monitoring in real-time of the berthing process,        particularly the loading and unloading of containers from a        ship. There are advantages to automatic monitoring of the exact        sequence of cargo containers being loaded and unloaded from a        ship. Knowing the exact sequence can reveal, and/or fix, ship        loading errors, which can be quite costly.    -   2. Real-world optical character recognition systems occasionally        make mistakes or are unable to recognize the characters, often        requiring reliability estimates of the recognized container ID.    -   3. There is a practical requirement for an automatic container        code reading machine to send a version of the image(s) captured        by its video imaging device(s) to a remote operator. This again        stems from the real-world limitations of optical character        recognition systems at recognizing the characters.    -   4. There is a practical requirement for the machine to minimize        bandwidth in sending the video image(s) across at least a        wireless physical transport layer.    -   5. There are significant advantages in many real-world        situations for the machine to have multiple video imaging        devices placed apart from at least each other, rigidly affixed        to the container crane. Such advantages include the ability to        withstand the severe mechanical vibrations container cranes        experience, while providing container code observations from        various locations about and around the container crane, which        include providing the length of the cargo container.    -   6. There are further advantages to positioning multiple,        independently controlled lighting systems to improve the imaging        quality of the multiple video imaging devices.    -   7. There are advantages to monitoring cargo container operations        by a container crane either through sensing the control system        of the container crane, or through the use of sensors external        to the container crane's control system.

To summarize, what is needed by both terminal management and shippingcompanies is a more accurate, real time accounting of incoming, outgoingand existing container inventory as the container cranes act upon andaround the containers. What is needed is a method of reducing errors andsupporting efficient operation in the berthing process through theautomated monitoring of cargo container loading and unloading.

What is needed is an automatic container code reading machine sending aversion of the image(s) captured by its video imaging device(s) to theremote operator. The bandwidth needs to be minimized in sending videoimage(s) across at least a wireless physical transport layer. Themachine needs, in many real-world situations, to include multiple videoimaging devices placed apart from each other and rigidly affixed to thecontainer crane. Multiple, independently controlled lighting systems mayfurther be needed, positioned to improve the imaging quality of themultiple video imaging devices.

Note that the problems discussed herein also relate to rail yardcontainer inventories as well.

SUMMARY OF THE INVENTION

The invention solves at least all the problems discussed above regardingthe prior art.

The invention provides a method and system supporting container coderecognition from a quay container crane 2200 communicating with acontainer inventory management system. An optical characteristicrecognition system preferably tracks container movement from ship toshore and vice versa.

The invention can read the standard universal identification (ID) tagsinternationally used on containers. Container ID tags will be referredto hereafter as container codes. Container inventory management systemsincorporating this invention can be integrated into existing containerterminal management systems (CTMS). Since each cargo container carries astandard container code, the invention can be utilized for tracking ofall containers with respect to their history, damage, current location,and use.

The invention supports operators remotely interrogating a container codewithout the need to physically approach the container. The opticalcharacteristic system further provides at least one video image, whichis compressed and may be sent via a wireless physical transport to thecontainer inventory management system. The video image compressioneffectively minimizes the bandwidth required to send video images.

The invention preferably includes multiple video imaging devicespreferably, mechanically coupled at distinct locations about the Quaycontainer crane 2200. The invention further preferably includesmultiple, independently controlled lighting sources. At least two of themultiple lighting sources are further mechanically coupled apart fromeach other on Quay container crane 2200 to provide length estimates of acargo container.

The invention reduces container inventory errors, supports accurateshipping container plans, and increases the overall terminal efficiency.

Optical characteristic recognition systems are sometimes referred to ascontainer code readers. Optical characteristic recognition systems mayfurther interrogate the contents of a container.

These and other advantages of the invention will become apparent uponreading the following detailed descriptions and studying the variousfigures of the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a typical berthing process involving quay containercranes 2200, transports between quay container cranes 2200 and storageyards, and storage yard containers manipulated by transfer containercranes 2100, as found in the prior art;

FIGS. 2A and 2B illustrate typical container codes and theirrepresentation on the side of a container as found in the prior art;

FIG. 3 illustrates a marine shipping yard 20 in accord with theinvention;

FIG. 4A illustrates a simplified block diagram of the containerinventory management system 1000 of FIG. 3 using the opticalcharacteristic recognition systems;

FIG. 4B illustrates a system block diagram of the means for operating3300 optical characteristic system 3000 implementing the inventivemethod for automated optical container code recognition with positionalidentification from a quay container crane 2200 of FIGS. 3 and 4A;

FIG. 5 illustrates a simplified block diagram of an opticalcharacteristic system 3000 providing container code recognition from aquay container crane 2200 of a container 100 identified by a containercode 110 to container inventory management system 1000;

FIG. 6A illustrates a method of operating optical characteristic system3000 of FIG. 5 as program system 3300 of FIG. 5;

FIG. 6B illustrates certain embodiments of the optical characteristic3250 from FIG. 5 of the container code 110 of FIGS. 2A–B and 5.

FIG. 6C illustrates positional identification 3260 of FIG. 5 forcontainer 100.

FIG. 7 illustrates a detail flowchart of operation 3332 of FIG. 6A forgenerating the optical characteristic of the container code;

FIG. 8A illustrates a detail flowchart of operation 3342 of FIG. 6A forgenerating the positional identification of the container;

FIG. 8B illustrates a detail flowchart of operation 3462 of FIG. 8A forgenerating the storage-location designation;

FIG. 8C illustrates a detail flowchart of operation 3472 of FIG. 8A forgenerating the terminal location for the quay container crane 2200;

FIG. 9A illustrates a detail flowchart of operation 3362 of FIG. 7 foracquiring the container code image;

FIG. 9B illustrates a detail flowchart of program system 3300 of FIG. 5implementing the method of operating the optical characteristicrecognition system;

FIG. 9C illustrates a detail flowchart of operation 3392 of FIG. 7 forprocessing the first container code image;

FIG. 10 illustrates a detail flowchart of operation 3352 of FIG. 6A forsending the optical characteristic and the positional identification;

FIGS. 11A–11C illustrate various detail flowcharts of operation 3452 ofFIG. 8A for generating the loading-operation;

FIG. 12 illustrates a preferred optical characteristic recognitionsystem 3000 with video imaging devices mechanically coupled to Quaycontainer crane 2200 as found in FIGS. 3 and 4A;

FIG. 13 illustrates a preferred embodiment of at least part of themechanical housing of an optical characteristic recoginition system; and

FIG. 14 illustrates a simplified block diagram of a preferred opticalrecognition system 3000.

DETAILED DESCRIPTION OF THE INVENTION

The invention provides a method and system supporting container coderecognition of a container, from a quay container crane 2200 as shown inFIG. 1, to manage at least a container inventory. The inventionautomatically and efficiently tracks the location of the container inloading and unloading ships, automatically updating at least thecontainer inventory database.

The invention supports remotely interrogating a container foridentification. And automatic monitoring of the berthing process, byreal-time monitoring of the loading and unloading of containers fromship 220 shown in FIG. 1.

FIG. 3 illustrates a marine shipping yard 20 in accord with theinvention.

System 1000 uses container code recognition, from quay container crane2200 shown in FIG. 1, of a container 100, identified by a container code110 as shown in FIGS. 2A and 2B, to manage at least a containerinventory. The invention automatically and efficiently tracks theloading and unloading of the container from ship 220, automaticallyupdating at least a container inventory database.

As used herein, a container crane is at least one of the following: aquay side container crane 2200, a transfer container crane 2100, as wellas rubber tire gantry container cranes and rail gantry container cranes.Quay container cranes 2200 are illustrated in FIGS. 1, 3, 4A to 5, and12. Transfer container cranes 2100 are illustrated in FIGS. 1, 3, and4A. It should be noted that transfer container cranes 2100 arepredominantly rubber tire gantry container cranes, while quay containercranes 2200 are predominantly rail gantry container cranes.

FIG. 4A illustrates a simplified block diagram of the containerinventory management system 1000 of FIG. 3 using the opticalcharacteristic recognition systems.

The method of operating system 1000 will be discussed in terms ofcomputer 1010, controlled by a program system 1200, including programsteps residing in a memory 1020 accessibly coupled 1022 to computer1010.

The system 1000 further includes computer 1010 communicatively coupled1002 to optical characteristic system 3000, which is mechanicallycoupled to transfer container crane 2100.

Computer 1010 is also communicatively coupled to optical characteristicsystem 3000, mechanically coupled to quay container crane 2200. Thecommunicative coupling of computer 1010 and optical characteristicsystem 3000 may be at least partially provided by network 1004 throughnetwork interface 1030, which in turn communicates 1032 with computer1010.

Note that in many embodiments of the invention, the communicativecoupling of various optical characteristic systems 3000 may employ auniform coupling mechanism, which in many circumstances may preferablybe a network.

Network 1004 may employ at least one member of a physical transportcollection in communicating with an optical characteristic system 3000in quay container crane 2200. The physical transport collection includesat least one wireline physical transport layer and preferably at leastone wireless physical transport layer.

Computer 1010 is communicatively coupled 1102 with database 1100. Notethat database 1100 may be included in at least one member of a containerinventory management collection comprising a marine shipping inventorymanagement system and a rail yard inventory management system.

Note that the system includes received optical characteristic 1100 andreceived positional identification 1150. In certain systems, it ispreferred that both received optical characteristic 1100 and receivedpositional identification 1150 reside in memory 1020. However, thesystem may include one or both of 1100 and 1150 residing somewhere otherthan memory 1020, including but not limited to them residing in networkinterface 1030.

Program system 1200 of FIG. 4A manages at least a container inventoryusing container code recognition of a container identified by acontainer code. The is container code recognition is performed on thecontainer crane, which may be either a transfer container crane 2100 ora quay container crane 2200 as seen in FIG. 3.

The container inventory management includes the following: Receiving anoptical characteristic of the container code and a positionalidentification of the container to create a received opticalcharacteristic 1100 and a received positional identification 1150.Updating a database with the received container code opticalcharacteristic and the received container positional identification.

As used herein, a computer will be considered to include at least one ofthe following: an instruction processor, an inferential processor, afinite state machine, and a memory.

An instruction processor will include at least one of the following. ASingle Instruction Single Datapath (SISD) processor, a SingleInstruction Multiple Datapath (SIMD) processor, a Multiple InstructionSingle Datapath (MISD) processor, a Multiple Instruction MultipleDatapath (MIMD) processor, a Complex Instruction Set Computer (CISC), aReduced Instruction Set Computer (RISC) and a Very Long Instruction Word(VLIW) computer.

An inferential processor will include at least one of the following: arule-based inferential processor, a constraint-based inferentialprocessor, and a fuzzy logic engine.

A finite state machine will include at least one of the following: atleast part of a programmable logic device, at least part of anapplication specific integrated circuit. A programmable logic devicewill refer to at least one member of the following: a Field ProgrammableGate Array(FPGA), a Programmable Logic Device (PLD), a ComplexProgrammable Logic Device (CPLD).

As used herein, memory 1020 includes at least one instance of a volatilememory and/or at least one instance of a non-volatile memory.Non-volatile memory includes at least one of the following: a writeablenon-volatile memory and a Read Only Memory (ROM). Writeable non-volatilememory includes at least one member of the following: anelectro-magnetically interfaced non-volatile memory and an opticallyinterfaced non-volatile memory.

Please refer to FIG. 6B for a discussion of the optical characteristicof the container code.

Receiving the optical characteristic and the positional identificationof the container may include the following. Determining a reliabilitymeasure of the estimated container code. Examining the container codeimage to create a second estimated container code, whenever thereliability measure indicates doubt.

Examining the container code image may include at least one of thefollowing. Requesting a modified version of the container code image tocreate a modified container code image request. Receiving a modifiedcontainer code image based upon the modified container code imagerequest.

Also note that the modified container code request may include at leastone of the following: a zoom-in request; a zoom-out request; a tiltrequest; a filter request. The filter request may includes at least oneof the following: an apply first filter request, an apply second filterrequest; and an align the first filter to the second filter request.

The positional identification of the container as illustrated in FIG. 6Cmay include at least one of the following: a loading-operationdesignation for the container, a storage-location designation for thecontainer, and a terminal location for the container crane.

Note that the invention includes embodiments wherein at least one of thestorage-location designation and the loading-operation designation forthe container, is derived at least in part from the terminal locationfor the container crane.

Receiving the optical characteristic and the positional identificationmay include the following. Receiving a packet from a network to create areceived packet. Processing the packet to create at least part of theoptical characteristic. Processing the packet to create at least part ofthe positional identification.

The method and system may further include generating a shippingcontainer plan for a ship 220 shown in FIG. 3 loaded by the quaycontainer crane 2200 based upon the database 1100.

Note that the container inventory management 1000 is not limited to thefollowing discussion, but is included to illustrate only a preferred useof container crane optical characteristic recognition systems 3000 shownin FIG. 4B, coupled to transfer container cranes 2100 and quay containercranes 2200, as shown in FIG. 4A.

FIG. 4B illustrates a system block diagram of the means for operating3300 optical characteristic system 3000 implementing the inventivemethod for automated optical container code recognition with positionalidentification from a quay container crane 2200 of FIGS. 3 and 4A.

Optical characteristic system 3000 includes at least two video imagingdevices 3100 and 3110, each communicatively coupled 3104 and 3114,respectively, to means 3332 for generating optical characteristic 3250of container code based upon at least two video imaging devices 3100 and3110. Video imaging devices 3100 and 3110 are mechanically coupled 3102and 3112, respectively, to quay container crane 2200.

Note that optical characteristic recognition system 3000 may also bemechanically coupled 3002 to quay container crane 2200. Mechanicalcoupling 3002 may preferably include a mechanical shock absorber toimprove the reliability of optical characteristic recognition system3000.

Note that as used herein, a video imaging device such as 3100 belongs toa collection including at least a video camera, a digital video camera,and a charged coupled array. A video imaging device 3100 may furtherinclude any of the following: a computer, a digital memory, an imageprocessor and a flash lighting system.

Means 3342 for generating position identification 3260 of the containermay include any of the following: Coupling to PLC unit 2010 on quaycrane 2200, coupling to quay crane relay controls 2020, and containersensors 3270. Container sensors 3270 may preferably include sensors toultrasonic transponders. Coupling to PLC unit 2010 may include one ormore indications of container locking, often known as twist lockingsignals.

Means 3342 may include coupling 3232 to a GPS receiver 3230.

Means 3352 for sending optical characteristic 3250 and positionalidentification 3260 to container inventory management system 1000 iscommunicatively coupled 1002 to container inventory management system1000.

Note that as used herein GPS includes any form of global positioning,including but not limited to, DGPS, (Differential Global PositioningSystem). Today, DGPS is the preferred global positioning form for theinvention, but the invention can use any form of global positioning.

FIG. 5 illustrates a simplified block diagram of a preferred opticalcharacteristic system 3000 providing container code recognition from aquay container crane 2200 of a container 100, identified by a containercode 110, to container inventory management system 1000, refining FIG.4B.

Optical characteristic system 3000 includes at least one, and in FIG. 5,two video imaging devices 3100 and 3110, each communicatively coupled3104 and 3114, respectively, to computer 3200. Video imaging devices3100 and 3110 are mechanically coupled 3102 and 3112, respectively, tocontainer crane 2000.

Note that optical characteristic recognition system 3000 is mechanicallycoupled 3002 to quay container crane 2200. Mechanical coupling 3002preferably includes a mechanical shock absorber to improve thereliability of optical characteristic recognition system 3000.

Computer 3200 accesses memory 3210, which includes program steps ofprogram system 3300, which implement the method of operating 3300 theoptical characteristic system 3000. The method will be furtherdocumented in the discussion of FIGS. 6A through 11C.

The invention may incorporate a number of location determinationmechanisms including GPS receiver 3230 communicatively coupled 3232 withcomputer 3200 as shown in FIG. 5. Note that GPS receiver 3230 may befurther mechanically coupled 3234 with quay container crane 2200 asshown in FIG. 5.

The invention is preferably communicatively coupled 1002 with containerinventory management system 1000. The invention may further preferablyinclude a network interface 3220 with network 1004 providing a couplingfrom computer 3200 via 3222-3220-1004 with container inventorymanagement system 1000.

Network 1004 employs at least one member of a physical transportcollection in communicating from the container crane 2000 to containerinventory management system 1000. The physical transport collectionincludes at least one wireline physical transport layer and preferablyat least one wireless physical transport layer.

Network 1004 preferably employs a packet based communications protocol,which may further preferably provide compatibility to the IEEE 802.11(b)communications standard.

FIG. 6A illustrates a method of operating optical characteristic system3000 of FIG. 5 as program system 3300 of FIG. 5.

Operation 3332 performs generating an optical characteristic 3250 ofcontainer code 110 based upon at least one of video Imaging devices 3100and 3110 shown in FIG. 5. Optical characteristics 3250 will be furtherdiscussed in FIG. 6B.

Operation 3342 performs generating a positional identification 3260 ofcontainer 100. Positional identification 3260 is further discussed inFIG. 6C.

Operation 3352 performs sending optical characteristic 3250 of containercode 110 and positional identification 3260 of container 100 tocontainer inventory management system 1000 as shown in FIGS. 4B and 5.

FIG. 6B illustrates certain embodiments of the optical characteristic3250 from FIG. 5 of the container code 110 of FIGS. 2A–B and 5.

The optical characteristic 3250 of the container code 110 includes atleast one member of the following: at least one container code image4010 of a container representation 2620 of the container code 110 imagedfrom the container crane 2000. The optical characteristic 3250 may alsoinclude an estimated container code 4020 based upon an optical characterrecognition process applied to the container code image 4010.Additionally, optical characteristic 3250 may include a first containercode image 4030, which may be further processed and/or modified tocreate container code image 4010.

FIG. 6C illustrates positional identification 3260 of FIG. 5 forcontainer 100.

Positional identification 3260 may further include at least one of thefollowing: a loading operation designation 4110 for container 100, astorage-location designation 4120 for container 100 and a terminallocation 4130 for quay container crane 2200.

Note that the invention may include one or more of the operations ofFIG. 7.

FIG. 7 illustrates a detail flowchart of operation 3332 of FIG. 6A forgenerating the optical characteristic of the container code.

Operation 3362 performs acquiring at least one container code image of acontainer representation of the container code imaged from the videoimaging device.

Operation 3372 performs applying an optical character recognitionprocess to the container code image to create an estimated containercode.

Operation 3382 performs acquiring a first container code image from thevideo imaging device of the container representation of the containercode.

Operation 3392 performs processing the first container code image tocreate the container code image.

Operation 3402 performs compressing the first container code image tocreate the container code image.

The invention may also include one or more of the operations of FIG. 8A.

FIG. 8A illustrates a detail flowchart of operation 3342 of FIG. 6A forgenerating the positional identification of the container.

Operation 3452 performs generating a loading-operation designation forthe container.

Operation 3462 performs generating a storage-location designation forthe container.

Operation 3472 performs generating a terminal location for the quaycontainer crane 2200 shown in FIG. 5.

FIG. 8B illustrates a detail flowchart of operation 3462 of FIG. 8A forgenerating the storage-location designation.

Operation 3492 performs deriving the storage-location designation forthe container at least in part from the terminal location for the quaycontainer crane 2200 shown in FIG. 5.

FIG. 8C illustrates a detail flowchart of operation 3472 of FIG. 8A forgenerating the terminal location for the quay container crane 2200 shownin FIG. 5.

Operation 3512 performs receiving a location reading from a GlobalPositioning System (GPS) receiver 3230 to create at least in part theterminal location for the quay container crane 2200 shown in FIG. 5.

The invention may include at least one of the operations of FIG. 9A.

FIG. 9A illustrates a detail flowchart of operation 3362 of FIG. 7 foracquiring the container code image.

Operation 3532 performs selecting a first of at least two of the videoimaging devices mechanically coupled to the quay container crane 2200shown in FIG. 5.

Operation 3542 performs acquiring the container code image from thefirst video imaging device of the container representation of thecontainer code 110 shown in FIG. 5.

FIG. 9B illustrates a detail flowchart of program system 3300 of FIG. 5implementing the method of operating the optical characteristicrecognition system.

Operation 3552 performs receiving a modified container code imagerequest.

FIG. 9C illustrates a detail flowchart of operation 3392 of FIG. 7 forprocessing the first container code image.

Operation 3572 performs processing the first container code image basedupon the modified container code image request to create the containercode image.

The invention may include at least one of the operations of FIG. 10.

FIG. 10 illustrates a detail flowchart of operation 3352 of FIG. 6A forsending the optical characteristic 3250 and the positionalidentification 3260 shown in FIGS. 5, 6B and 6C.

Operation 3592 performs sending a packet across a network 1004 to thecontainer inventory management system 1000 as shown in FIGS. 4A and 5.

Operation 3602 performs writing the optical characteristic 3250 of thecontainer code 110 and the positional identification 3260 of thecontainer 100 to 3242 a removable non-volatile memory 3240 as shown 5.

Operation 3612 performs creating the packet from at least part of atleast one sending-data collection member.

Operation 3622 performs writing at least one sending-data collectionmember to a file contained in the removable non-volatile memory 3240shown in FIG. 5.

Operation 3632 performs writing at least one sending-data collectionmember to a record contained in the removable non-volatile memory 3240shown in FIG. 5.

Note that the sending-data collection includes the opticalcharacteristic 3250 of the container code 110 and the positionalidentification 3260 of the container 100 as shown in FIG. 5.

The invention may include one of the operations of FIG. 11A.

FIG. 11A illustrates a detail flowchart of operation 3452 of FIG. 8A forgenerating the loading-operation.

Operation 3652 performs receiving a locking indication from aprogrammable logic controller 2010 within the quay container crane 2200as shown in FIG. 4B.

Operation 3662 performs determining the locking indication from a relaynetwork 2020 within the quay container crane 2200 as shown in FIG. 4B.

The invention may include one of the operations of FIG. 11B.

FIG. 11B illustrates a detail flowchart of operation 3452 of FIG. 8A forgenerating the loading-operation.

Operation 3672 performs determining a container hoist-trolley positionbased upon sensing a coded hoist shaft in the quay container crane 2200.

Operation 3682 performs determining the container hoist-trolley positionbased upon sensing ultrasonic transponder 3270 as shown in FIG. 4B.

The coded hoist shaft preferably uses a gray code but the invention mayuse any coded hoist shaft.

Note that a hoist-trolley position as used herein will refer to a hoistposition and/or a trolley position.

FIG. 11C illustrates a detail flowchart of operation 3452 of FIG. 8A forgenerating the loading-operation.

Operation 3692 performs generating the loading-operation designationbased upon at least one member of the collection comprising the lockingsignal indication and the container hoist position.

FIG. 12 illustrates a preferred optical characteristic recognitionsystem with video imaging devices mechanically coupled to Quay containercrane 2200 as found in FIGS. 3 to 5.

The optical characteristic recognition system 3000 tracks the containersas they are transferred to and from shore and ship 220 as shown inFIG. 1. Each container's unique ID code is optically read as it passesthrough the container crane's seaside legs, shown in FIG. 12.

The container code information is preferably processed by computer 3200shown in FIG. 5 installed on quay container crane 2200. The updatedcontainer status is sent to a container inventory management system 1000shown in FIG. 3 to 5, often located at a central office for thecontainer facility. The computer 3200 will interface with the containerinventory management system 1000 identifying whether the container 100is being added or substracted from the terminal's inventory listing.

Each time quay container crane 2200 shown in FIGS. 3 to 5 picks up acontainer 100 from a chassis or deposits a container onto a chassis, thecontainer code 110 will preferably be read. The container identificationis preferably received by computer 3200 shown in FIG. 5.

When the container reaches its final location, this information is thensent to the container inventory management system 1000 as shown in FIGS.4A to 5, which updates the master inventory and location listingdatabase 1100 shown in FIG. 4A.

All container movements are preferably tracked and updated in real timegiving terminal management essentially immediate knowledge of allcontainers at all times.

The container code 110 is preferably read as containers 100 are placedon or removed from a chassis. The container code 110 is identified bythe optical characteristic recognition system 3000 shown in FIGS. 4B and5.

FIG. 13 illustrates a preferred embodiment of at least part of themechanical housing of an optical characteristic recoginition system 3000of FIGS. 3 to 5.

The mechanical housing of the optical characteristic recognition systemincludes at least one video imaging device, as well as preferablyincluding flash lighting, the triggering and systems as illustrated inthe block diagram of FIG. 5. As to the triggering system, it may includea laser photo and/or a infra-red photo sensor.

Other circuitry coupled with a container crane may provide additionalstorage location information and/or additional information regarding thecontainer contents used by computer 3200 shown in FIG. 5.

FIG. 14 illustrates a simplified block diagram of a preferred opticalrecognition system 3000 as shown in FIGS. 4B and 5.

Note that container storage areas can be individually separated and notnecessarily identified as repository locations located upon a predefinedgrid, as is often the case in container stacking areas.

The optical characteristic recognition system 3000 can be installed onquay container cranes 2200 to identify containers at wharfside, and ontransfer carrier container cranes 2100, to identify containers in singleor multiple stack container storage.

Note that FIGS. 12 and 13 illustrate at least two and sometimes severalvideo imaging devices (3100–3170) may be preferred in variousapplications of the inventive optical characteristic systems 3000 asshown in FIGS. 4B and 5.

Each video imaging device preferably has automatic focus controlaccommodating both the ambient light conditions and the target locatedat a distance.

Preferably, illumination for video imaging is provided by a flash lightsystem. Generally, it includes strobe action to catch the image duringdaytime and at night in the absence of light. The trigger of the videoimaging device is preferably based on at least the loading/unloadingconditions on the container crane.

The loading/unloading conditions on the container crane can preferablybe obtained from the Programmable Logic Controller (PLC) 2010 on quaycontainer crane 2200 or from sensors 3270 shown in FIG. 4A checkingwhether there is a container to be loaded/unloaded. The sensors 3270 canbe laser, infrared, or ultrasonic sensors. Today, laser sensors are morereliable and accurate, but, more expensive than the infrared, currentlymaking infrared sensors preferable on a cost basis and laser sensorsmore preferable on a reliability and accuracy basis.

The video imaging device may preferably include both an opticalcharacter recognition process and an image processing unit to convertthe container code images into a standard format. The standard format ispreferably compatible with some version of JPEG.

Storage location for a container is provided by the invention toidentify the container's repository address. A DGPS unit 3230 shown inFIGS. 4B, 5 and 14 preferably determines the Z axis location of atransfer container crane. Signals of a PLC coupled with the transfercontainer crane can determine the X and Y axes. This determines theoverall position of the container.

The DGPS unit 3230 as shown in FIGS. 4B, 5 and 14, is preferably used inapplications with transfer container cranes 2100 as shown in FIGS. 3 and4A, due to the importance of their location. However, quay containercranes 2200 shown in FIGS. 4A to 5, do not have the same crane locationaccuracy requirements, making the use of DGPS receivers 3230 lesspreferable.

In some cases, the address identifier for the repository locations inthe container terminal storage areas are not adequately marked byoptical character reading, radioactivity identification, orelectronic/magnetic detection.

In some cases, a less sophisticated version of the invention ispreferred, where the container location is operator input through ahand-held keypad.

The optical characteristic recognition system 3000 is preferably mountedon a movable container crane and able to operate in all types ofweather.

The optical characteristic system 3000 may be automatically aimed by thecontainer crane, remotely controlled, and/or hand-held by an operator tointerrogate the address for the cargo containers.

The container code 100 as optical characteristic 3250 and positionalidentification 3260 are sent to the container inventory managementsystem 1000 as shown in Figures to verify whether the container isdeposited at the proper address.

The information may be sent by floppy disk. The data/information isdownloaded onto a transportable data storage unit such as a floppy disk,and hand carried to the container inventory management computer system.

As shown in FIG. 5, the container crane's optical characteristic system3000 generates information to send to the container inventory managementsystem 1000.

At least the quay container crane 2200 coupled PLC 2010 shown in FIGS.4B and 14, and possibly GPS unit 3230, are preferably used to generatethe positional identification. Both signals are sent to computer 3200 asshown in FIG. 14.

Computer 3200 as shown in FIG. 14 may also be coupled with a serialcommunication board to interpret the signals sent to it. Computer 3200may also be coupled with a digital signal circuit interacting with anyor all of the following: switches, buzzers, and lights.

Computer 3200 preferably functions as a traffic controller, whichmanages the transmission of the data through the network interface orwireless modem 3220 shown in FIGS. 5 and 12, which converts andtransmits the signals to the container inventory management system 1000as shown in FIGS. 3 to 5.

Computer 3200 preferably determines which signals are to be sent and inwhich order. The serial communication board preferably receives signalsfrom the outside units such as video imaging devices 3100 and 3110 asshown in FIGS. 4B and 5, as well as GPS receiver 3230 shown in FIGS. 4B,5 and 14.

Computer 3200 translates them into a form that computer 1010 shown inFIG. 4A can process. The removable nonvolatile memory 3240 preferablystores the optical characteristic 3250 shown in FIGS. 4B, 5, and 6B, andpositional identification 3260 shown in FIGS. 4B, 5, and 6C. Note thatremovable non-volatile media includes, but is not limited to, floppydisks, zip disks, and optical disks.

Assume a container crane operator directs the optical characteristicsystem 3000. The operator can be provided with a hand-held computerinput or keypad, allowing the input of data. The operator inputs thedata when he locates a target container as well as changes to other datain the container inventory management system.

The light and buzzers preferably allow the container inventorymanagement system 1000 shown in FIGS. 3 to 5 send messages to thecontainer crane operator as well as allow the quay container crane 2200equipment to communicate with the human operator.

For example, the lights and buzzers may preferably indicate amalfunction in the optical characteristic system 3000 and/or thelocation determination and/or completion of an operation such asinforming the operator that a target container has been found.

Network interface 1030 may preferably include a stationary wirelessmodem unit connected 1032 to computer 1010 as shown in FIG. 4A. Itallows the container crane's optical characteristic system 3000 andcomputer 1010 to exchange information. The modem 1030 receives the datatransmitted by optical characteristic system 3000 and program system1200 receives the new data and updates via 1102 database 1100 as shownin FIG. 4A.

Note that the coupling 1102 shown in FIG. 4A is often preferably a LocalArea Network (LAN). Note that each container inventory management system1000 may employ different LANs 1102. Computer 1010 translates thereceived container code and positional identification into the reigninglanguage of LAN 1102. Note that multiple workstation computers mayfurther be connected to LAN 1102.

The invention also includes methods identifying container code anddetermining container locations in at least terminal storage areas. Thesteps can be described as follows:

-   (1) Provide an optical characteristic recognition system 3000 on a    quay container crane 2200 shown in FIGS. 4A to 5 and 14 to    interrogate the representations 2620 shown in FIG. 5 of the    container code 110 of a cargo container 100;-   (2) Aim the optical characteristic recognition system 3000 at the    container code representation 2620 shown in FIG. 5, generate at    least one optical characteristic 3250 for the container code 110 and    send the optical characteristic 3250 to the container inventory    management system 1000 as shown in FIGS. 4B, 5 and 6A;-   (3) Determine the positional identification 3260 of the container    100 as shown in FIGS. 4B, 5 and 6A;-   (4) Send the positional identification 3260 from the quay container    crane 2200 to the container inventory management system 1000 as    shown in FIGS. 4B, 5 and 6A.-   (5) At the container inventory management 1000 shown in FIGS. 4A to    5, compare the information contained in the received signals with    the database 1100 to verify whether the container 100 is deposited    at the proper address.

Various embodiments of the invention support some or all of thefollowing:

-   -   The optical characteristic recognition system 3000 shown in        FIGS. 4A to 5 and 14 reliably performs under all real-life        environmental conditions including any or all of the following:        weather, traffic load and power supply variations.    -   The optical characteristic recognition system 3000 shown in        FIGS. 4A to 5 and 14 can read the representations of a        container's code 110, determine the current location of        container 100, and then wirelessly transmit this data back to        the container inventory management system 1000 shown in FIGS. 4A        to 5.    -   The optical characteristic recognition system 3000 shown in        FIGS. 4A to 5 and 14 downloads and saves the optical        characteristic and positional identification to an on-board        buffer memory.    -   The optical characteristic recognition system 3000 shown in        FIGS. 4A to 5 and 14 and/or the container inventory management        system 1000 shown in FIGS. 4A to 5 warn the yard clerk if the        actual location is different from that listed in the yard's        container inventory database 1100, as shown in FIG. 4A.    -   The optical characteristic recognition system 3000 shown in        FIGS. 4A to 5 and 14 and/or the container inventory management        system 1000 shown in FIGS. 4A to 5 allow the yard clerk to        conveniently change the database 1100 shown in FIG. 4A.

The preceding embodiments have been provided by way of example and arenot meant to constrain the scope of the following claims.

1. A method providing container code recognition from a quay containercrane of a container identified by a container code to a containerinventory management system, comprising the steps of: generating anoptical characteristic of said container code based upon at least onevideo imaging device mechanically coupled to said quay container crane;generating a positional identification of said container; and sendingsaid optical characteristic of said container code and said positionalidentification of said container to said container inventory managementsystem; wherein the step generating said optical characteristic of saidcontainer code is comprised of the steps of: acquiring at least onecontainer code image of a container representation of said containercode imaged from said video imaging device; and applying an opticalcharacter recognition process to said container code image to create anestimated container code; acquiring a first container code image fromsaid video imaging device of said container representation of saidcontainer code; and compressing said first container code image tocreate said container code image.
 2. The method of claim 1, wherein thestep generating said positional identification of said container isfurther comprised of at least one member of the collection comprisingthe steps of: generating a loading-operation designation for saidcontainer; generating a storage-location designation for said container;and generating a terminal location for said quay container crane.
 3. Themethod of claim 1, wherein the step sending said optical characteristicand said positional identification, is comprised of the steps of:sending a packet from a network to create a received packet; andcreating said packet from at least part of at least one member of asending-data collection; wherein said sending-data collection iscomprised of said optical characteristic of said container code and saidpositional identification of said container; wherein said networkemploys at least one member of a physical transport collection incommunicating from said quay container crane to container inventorymanagement system; wherein said physical transport collection iscomprised of at least one wireline physical transport layer and at leastone wireless physical transport layer.
 4. The method of claim 3, whereinthe step sending said optical characteristic and said positionalidentification, is comprised of at least one member of the collectioncomprising the steps of: writing said optical characteristic of saidcontainer code and said positional identification of said container to aremovable non-volatile memory; writing at least one member of saidsending-data collection to a file contained in said removablenon-volatile memory; and writing at least one member of saidsending-data collection to a record contained in said removablenon-volatile memory.
 5. A program system implementing the method ofclaim 1 by controlling a computer through a collection of program stepsimplementing the steps of claim 1, wherein said program steps reside ina memory accessibly coupled with said computer.
 6. A system implementingthe method of claim 1, comprising a means implementing each of the stepsof claim
 1. 7. The system of claim 6, wherein at least one of said meansof claim 6 is comprised of at least one member of the collectioncomprising: an instruction processor, an inferential processor, a finitestate machine, and a memory; wherein said instruction processor includesat least one member of the collection comprising: a Single InstructionSingle Datapath (SISD) processor, a Single Instruction Multiple Datapath(SIMD) processor, a Multiple Instruction Single Datapath (MISD)processor, a Multiple Instruction Multiple Datapath (MIMD) processor, aComplex Instruction Set Computer (CISC), a Reduced Instruction SetComputer (RISC) and a Very Long Instruction Word (VLIW) computer;wherein said inferential processor includes at least one member of thecollection comprising: a rule-based inferential processor, aconstraint-based inferential processor, and a fuzzy logic engine;wherein said finite state machine includes at least one member of thecollection comprising: at least part of a programmable logic device, atleast part of an application specific integrated circuit; wherein saidprogrammable logic device includes at least one member of the collectioncomprising: a Field Programmable Gate Array(FPGA), a Programmable LogicArray (PLA), a Complex Programmable Logic Array (CPLA); wherein saidmemory includes at least one member of the collection comprising: avolatile memory and a non-volatile memory; wherein said non-volatilememory includes at least one member of the collection comprising: awriteable non-volatile memory and a Read Only Memory (ROM); wherein saidwriteable non-volatile memory includes at least one member of thecollection comprising: an electro-magnetically interfaced non-volatilememory and an optically interfaced non-volatile memory.
 8. An opticalcharacteristic system providing container code recognition from a quaycontainer crane of a container identified by a container code to acontainer inventory management system, comprising: a computercommunicatively coupled to at least one video imaging device andcontrolled by a program system comprising program steps residing in amemory accessibly coupled to said computer; said video imaging device ismechanically coupled to said quay container crane, for each of saidvideo imaging devices; wherein said program system is further comprisedof the program steps of: generating an optical characteristic of saidcontainer code based upon at least one of said video imaging devices;generating a positional identification of said container; and sendingsaid optical characteristic of said container code and said positionalidentification of said container to said container inventory managementsystem; wherein the program step generating said optical characteristicof said container code is comprised of at least one member of thecollection comprising the program steps of: acquiring at least onecontainer code image of a container representation of said containercode imaged from said video imaging device; applying an opticalcharacter recognition process to said container code image to create anestimated container code; acquiring a first container code image fromsaid video imaging device of said container representation of saidcontainer code; and processing said first container code image to createsaid container code image.
 9. The apparatus of claim 8, wherein theprogram step sending said optical characteristic and said positionalidentification, is comprised of the program steps of: sending a packetfrom a network to create a received packet; and creating said packetfrom at least part of at least one member of a sending-data collection;wherein said sending-data collection is comprised of said opticalcharacteristic of said container code and said positional identificationof said container; wherein said network employs at least one member of aphysical transport collection in communicating from said quay containercrane to container inventory management system; wherein said physicaltransport collection is comprised of at least one wireline physicaltransport layer and at least one wireless physical transport layer. 10.The apparatus of claim 9, wherein the program step sending said opticalcharacteristic and said positional identification, is comprised of atleast one member of the collection comprising the program steps of:writing said optical characteristic of said container code and saidpositional identification of said container to a removable non-volatilememory; writing at least one member of said sending-data collection to afile contained in said removable non-volatile memory; and writing atleast one member of said sending-data collection to a record containedin said removable non-volatile memory.